600

 -Hip

 500 -Knee
 -Ankle


 400
N


* 300



 200



 100



 0
 0 5000 10000 15000 20000 25000
 Function Evaluations

Figure 4-2. Outer-level optimization objective function fitness value convergence for
 multi-cycle experimental marker data, where the best fitness value among all
 nodes is given for each iteration.